Trees (and chains) of kinematic equations are used in robotics, computer graphics, and animation. In robotics forward kinematics refers to the use of kinematic ...

Abstract: Online collision-free trajectory generation within a shared workspace is fundamental for most multirobot applications. However, many widely-used methods based on model predictive control ...

Abstract: This paper proposes a passivity-based Recursive Newton-Euler algorithm, abbreviated pRNE. The proposed pRNE algorithm solves the inverse dynamics under a ...